Rotor or propeller blade with dynamically variable within each revolution fluid dynamic properties

ABSTRACT

A blade for cycloidal rotor or propeller is provided with means to dynamically change within each revolution: its relative pivot point location along chord, extend or retract trailing edge, make actuated or passive turns of trailing edge flap, dynamically control stiffness of at least the flexible trailing edge, open or close strips covering much of blade surface area to allow flow through the blade. These features will enable the control system to continually adjust each blade to its immediate operating environment along the orbit.

RELATIONSHIP TO OTHER APPLICATIONS

This is a Divisional application stemming from patent application Ser.No. 15/149,099 which claims priority of said patent application Ser. No.15/149,099 and claims benefit of its filing date.

1. FIELD OF THE INVENTION

This invention relates to blades for the cycloidal propellers and rotorsand especially to the blades for the non-circular orbiting cycloidalrotors and propellers.

2. DESCRIPTION OF THE PRIOR ART

At the present time the known blades for the orbiting cycloidalpropellers and rotors, such as for example described in the U.S. Pat.No. 8,540,485, are of fixed cross-sectional shape. However the patentapplication PCT/IL2013/050755 for a rotor or propeller featuring theindependent from the other blades in terms of the trajectory and interms of speed, largely unconstrained by the rotor structure blades'motion (hereinafter free blade motion) does also describe the bladesdesigned to be cross-sectionally flexible by means of being providedeither with the hinges running along the length of the blade span ormaking the blades cross-sectionally flexible by means of using theflexible materials such as elastomers. The blades cross-sectional shapedynamic variability is useful for providing fishtail-type or indulatingthruster-type propulsion and will be useful for other purposes such asfor example the controlled generation and shedding of the trailing edgevortex and dynamically optimizing the blade shape to correspond todifferent operating conditions along the blade orbit. In the abovereferenced patent application the blades are flexed by means of themagnetic force vectors acting on the magnetic footers mounted on theblades ends. Thus the blades are cross-sectionally flexed by means ofthe external forces acting on the blades. This kind of anelectromagnetic propeller or rotor does have that capability, howeverthe known cycloidal rotors or propellers do not, whereas the benefits ofthe dynamic cross-sectional blade shape variability would be highlydesirable for them as well. With the exception of the above referencedpatent application there is nothing in the art related to cycloidalpropellers and rotors featuring the dynamic blade pivot point locationvariability. The said patent application describes the variability ofthe virtual pivot point location along the blade chord, but does notdescribe the variability of a physical pivot point relative location andthat feature is not findable in the prior art. Dynamically changingplanforms are known for the variable geometry airplane wings, but notfor the blades of cycloidal rotors and propellers and for the latterthey are needed for a different set of reasons—the need to vary the sizeof the trailing edge vortex and to dynamically control along the bladeorbit the current location of each blade's trailing edge and thereby thelocation of the trailing edge vortex and its shed flows. Turnabletrailing edge flaps have long been a feature of the fixed wings ofairplanes and of helicopter rotor blades, but not of the said rotor andpropeller blades where they will be highly useful for generating thetrailing edge vortexes and controlling their size and controllablyshedding them or either avoiding or minimizing their generation in partsof the blade trajectory where that would be counterproductive or forusing fishtail type propulsion by the blade. The leading edge slats andslots are known as the feature of the fixed wings of airplanes and areused for lift enhancement and stall prevention, but the “on” or “off”largely unobstructed flow permeability of the said rotor and propellerblades over much of their surface and especially the trailing part ofthe blade to negate the effects of strong localized cross-trajectoryflows and/or the effect of a difference in dynamic pressure on opposingsides when its counterproductive, used over parts of the bladetrajectory within each revolution of a rotor or propeller when needed,has a completely different reason for being, different structure and isnot findable in the prior art. Providing flexible trailing edges isknown for example in helicopter rotors, but providing more than one ofthem on different sides or the same side of the blade pivot pointoriented for flexing either in the same or opposite directions,equipping them with structural elements of dynamically variablestiffness up to the point of rigidity would be highly useful for certaintypes of cycloidal rotor or propeller operation where the aero-elasticor hydro-elastic effects respectively have importance comparable to thatof conventional lift generation and is not findable in the prior art.The ability to switch between the rigid and flexible status of theleading and trailing edges when the roles of said leading and trailingedges are reversed for operation in the regime of reverse airflow and inother cases is highly desirable, but is also not findable in the priorart. Varying the blade's cross-sectional profile thickness when theleading and trailing edges are reversed and in other cases is useful andis not findable in the prior art.

3. OBJECTS AND ADVANTAGES

One object is to provide the blades for the above referenced propellersand rotors with the capability of dynamically changing their physicalpivot point location along the blade chord for controlling the relativesizes of the leading and trailing edge vortexes.

Another object is to provide the blades for said propellers and rotorswith the ability to dynamically change the blade's planform by means ofextending or retracting a trailing edge extension, which may be extendeddifferentially at the two ends of the blade depending on the currentaerodynamic or hydrodynamic regime respectively at each end, forcontrolling the size, shape along the span, movement along the span,generation and shedding of the trailing edge vortex.

Another object is to provide the blades for said propellers and rotorswith the trailing edge flap dynamically turnable either by the flows orpowered turning in either direction for the purpose of handling thetrailing edge vortex and other flows affecting the trailing edge.

Another object is to provide the blade for said propellers and rotorswith at least one flexible edge and to make said edges' stiffnessvariable dynamically, and optionally differentially along the bladespan, in real time for better control of the hydro-elastic oraeroro-elastic effects respectively.

Another object is to provide the blades with the ability to change theirprofile cross-section thickness and shape accordingly when the leadingand trailing edges are reversed for operation in the regime of reverseairflow or other conditions calling for such changes of blade'scross-section.

Another object is to enable, when reversing the leading and trailingedges of the blade, making its heretofore rigid leading edge flexibleand its heretofore flexible trailing edge rigid for their role reversal.

Another object is to provide for much of the blade and especially itstrailing part on demand cross-blade flow permeability to be initiated orstopped by the control system at the appropriate locations along bladetrajectory in order to be able to negate the effects of strong localizedcross-trajectory flows or the effect of a difference in dynamic pressureon opposing surfaces of the blade when it's counterproductive.

4. BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view of the blade equipped with built-in linear actuatorsfor changing the relative angular positions of the adjacent segmentsthereby varying its cross-sectional shape dynamically.

FIG. 2 is a view of the blade featuring an elastically flexible platewith installed on it, between partition plates, size varyingelectro-active polymer segments changing their sizes upon theapplication of voltage thereby dynamically flexing the blade'scross-sectional shape.

FIG. 3 is a view of the blade with pivoted support equipped with anactuator for dynamically moving the blade relative to the pivot and thuschanging the blade's relative pivot point location.

FIG. 4 depicts the blade shown from the top with an actuated trailingextension flap.

FIG. 5 is the side view of the blade with a turnable trailing edge flap.

FIG. 6 is a view from the top of a blade with two flexible edges ofdifferentially variable along the span stiffness oriented in oppositedirections and suitable for reversing the trailing and leading edges.

FIG. 7 is the view from the top of a blade with two variable edge flapslocated at the opposing edges of the blade and operationally oriented inthe same direction.

FIG. 8 is a side view of a blade with variable cross-sectional profileheight.

FIG. 9 is the partial side view of a blade with “on” or “off” flowpermeability.

FIG. 9a is a partial top view of a blade with “on” or “off” flowpermeability.

5. DESCRIPTION OF THE PREFERRED EMBODIMENTS

First embodiment of this invention (FIG. 1) is a blade (1 a) comprisinga number of parallel segments (1) which are connected either by hinges(2) or by flexible links thereby forming a cross-sectionally flexiblesurface. Possible configurations of this blade may comprise segments ofunequal dimensions along the chord with, for example the first segmentstarting from the leading edge being the longest. Said segments willhave plates to which will be attached, spanning the gap between saidsegments, miniature where appropriate, actuators (3) such as for examplevery fast acting electro-active polymer actuators, piezo-electriccrystal stack actuators or the amplified piezo-electric actuators forthe airfoil blades and for much slower moving hydrofoil blades forexample the electro-magnetic actuators, electro-active polymer actuatorsor the smart memory alloy-based actuators. Over the gap the elasticflaps (4), extending from one segment to the segment following it, canbe provided. Said flap can be made elastically lightly pressing itselfagainst the surface of the following segment, so that the gap remainscovered when the adjacent segments change their relative positioning.For the airfoils said segment's contact surface against which the flapis pressing can be provided with a low friction surface coating and/orthe air lubrication can be used for example by means of diverting someof the ambient air flow into the contact area between a segment and aflap. The hydrofoils can be provided with a surface treatment or coatingsuitable for operating with water lubrication. The surface of said flaplightly pressing against the segment can be provided with a similarcoating. Alternatively the segments can be provided an elastic coverover both, the upper and lower blade surfaces, made for example from anelastomer material. A different implementation of the first embodiment,particularly well-suited for the marine propellers, is shown (FIG. 2),wherein the elastic plate (5) extends along the chord and mountedperpendicularly to said plate are the partition plates (6). This bladestructure allows cross-sectional flexibility in combination withspanwise stiffness provided by the partition plates (6). Between saidpartition plates and attached to them are installed electro-activepolymer segments (7) connected to the power circuit. The surfaces of theblade are covered by an elastic sheeting (8), such as made of anelastomer. Still another version of the first embodiment will be usingthe turn actuators at the hinges between the segments (1) in a mannersimilar to what is described in the fourth embodiment for turning thetrailing flap, but in the first embodiment said turn actuators will beused for changing the relative planes of the adjacent segments therebychanging the shape of the blade. One more version of the firstembodiment has bars made of smart memory alloys connecting the segments(1) with said bars bending according to the commands by the controlsystem to change the relative planes of the adjacent segments, therebychanging the shape of the blade. There are pressure/flow sensors placedon the surface of the blades as well as the transmitters, such as forexample infra-red light or radio to relay the sensor data as well as toprovide the feedback to the control system regarding the blade partsactual positions.

Second Embodiment will comprise a blade either of a fixedcross-sectional shape or of variable shape (FIG. 3) mounted on both endsonto the support plates (9) which are slidably mounted onto a shortpivoted tracks (10). On said pivoted (12) track are attached thecorresponding ends of the suitable actuators (11) while the opposingends of said actuators are attached to the carriages. The suitable fastacting actuators can be for example the electro-active polymer based orthe piezo-electric with amplification actuators. It is possible that thecarriages are mounted inside another pair of carriages with theactuators attached to the inner and outer carriages in the same manneras described above for the support plates (9) and a pivoted short track(10). The purpose of that is to have the carriages with actuators movingin a staggered manner to increase the distance of blade movementrelative to the pivot point, because the actuators that are required forthe airfoils with real time pivot point relative location variabilityhave to be very fast acting, but typically have a short stroke—such asthe piezo-electric crystal based actuators. The blade's translationalmovement relative to its pivot point will result in the tangentialredistribution of its mass forward or backward which can be neutralizedby the use of counterbalancing of such movements similar to what hasbeen described in U.S. Pat. No. 8,540,485 and/or the patent applicationPCT/IL2013/050755 or by the use of other known counter-balancing and/ordamping means.

Third embodiment of the blade of this invention (FIG. 4) will comprise ablade either of a fixed shape or a flexible blade as described in thefirst embodiment. On the suitable elements of the blade structure therewill be mounted 2 fast acting linear actuators (13) which are inturnable attachment to pins (14). On the left the pin (14) is mounted onmovable support (15). Said support is movable along the short track (16)to accommodate the differential moves of the left and right sides of thetrailing extension (17). There can be many other different designsolutions for the simple task of extending and retracting the trailingextension which would still be within the scope and the spirit of thisinvention. The extension or retraction of said trailing extension willresult in redistribution of its mass forward or backward which can beneutralized by the use of counterbalancing of such movements similar towhat has been described in U.S. Pat. No. 8,540,485 and/or the patentapplication PCT/IL2013/050755 or by the use of other knowncounter-balancing and/or damping means.

Fourth embodiment of the blade of this invention (FIG. 5) will feature aturnable flap (18) attached to the body of the blade (19) by means ofhinges. Along the ends of the flap and in corresponding locations of thebody of the blade, stoppers with the dampeners (20) will be located tolimit the maximum turn of the flap in both ways. Coaxially with thehinge (s) a fast acting turn actuator (21) with the clutches (22) ismounted. Keys (23) will assure that the flap (25) turns together withthe shaft (24) in hinges (26). A miniature transmitter will be locatedon the flap, for example infra-red; for signaling flap's actual positionto the control system. It would be desirable to have this turnable flapbalanced around its pivot axis especially for the much faster aerialrotor applications.

The fifth embodiment (FIG. 6) of the blade (1 a) will comprise theflexible trailing edges (27) with reinforcing ribs (28) extending fromthe side where the flexible trailing edge is attached to the structureof the blade, to the free end of the flexible edge. Said reinforcingribs (28) will be placed at predetermined distances from each other.Said ribs will be made of elastic material such as for example the kindsof plastics used in the plastic springs, elastic bronze alloys or springsteel. The ribs in one version of this embodiment are generally in theform of hollow tubing filled with oil or other incompressible fluid withno air pockets, hermetically sealed on one end and closed on the otherend by a piston or, if practical for a given diameter of hollow tubing,flexible membrane suitable for withstanding high pressures, with saidpiston or membrane controllably, according to a pre-determinedmathematical function or formula describing the amount of movement inrelation to time, moved by an actuator, such as for examplepiezo-electric or electro-active polymer based one, more or less inwardsor outwards of the tubing's hollow with the required by the controlsystem frequency or specifically on command by the control system. Whenthe piston or membrane is pushed in—this will create high pressureinside the tubing's hollow, resulting in the tensile stress in its wallsand, for certain kinds of tubing materials such as plastics, theirsignificant radial expansion and therefore due to these factors therib's increased stiffness and vice versa when the piston or membranemoves outward. Optionally said piston or membrane can be external to thehollow tubing of ribs (28) and its high pressure output would enter thehollow tubing via a suitable inlet or there will be an insert inside thehollow tubing, such as consisting of a suitable electro-active polymerchanging its volume upon application of voltage and thereby changingpressure inside. Alternatively such reinforcing rib can comprise anelastic beam, made of the same kinds of materials as those listed abovefor the ribs, of elongated cross-sectional shape such as for exampleelliptical or oval mounted inside of round housing tube. When said beamsare turned by the actuators relative to the plane of blade, their areamoments of inertia relative to that plane and accordingly theirstiffness will vary, possibly by several times if needed. These andother ways of implementing these reinforcing ribs of variable stiffnessare described as applied to springs of various types and shapes inpatent application “Smart Springs and their combinations”,PCT/IL15/00021. The stiffness variation of reinforcing ribs (28) can beperformed differentially along the blade span which will have effect onthe shape of the vortex forming and its possibly moving spanwise alongsaid flexible edge. Said flexible edge along the blade span can beprovided on more than one location along the blade chord, such as forexample (FIG. 6) along the opposing edges of the blade with opposingflexible edge orientations, defined as the direction from the side of itthat is mounted to the free, movable side. This would be particularlyuseful for the cases where the operation in reverse airflow is requiredor in other cases where the current instantaneous trajectory position ofthe blade and its current pitch angle make reversing the leading andtrailing edges advantageous. In that case the control system is makingthat determination and former trailing edge is made rigid, while theformer leading edge is made appropriately flexible. Alternatively theflexible edges, depending on the type of operational movement that ablade is designed for, could be installed facing in the same direction(FIG. 7) either on the different sides relative to the blade pivot pointor on the same side. In both cases they will require spanwise openingsin the blade surface of predetermined, sufficient size for thenon-leading, non-trailing edge located flexible edge to operate.

For the sixth embodiment of this invention the blade will be providedwith dynamic profile thickness variability in order to optimize theblade cross-sectional profile, and optionally spanwise profile as well,for the different operating conditions and regimes along the blade orbitwithin a revolution. This will also be needed for the blades of thefifth embodiment where the leading and trailing edges are reversible andthe appropriate reshaping of the blade profile is called for tocorrespond to that reversal. The blade as shown on FIG. 8 will comprisea base which may be of fixed shape or variable shape as described abovefor the first embodiment (29) and a flexible cover (not shown) made ofsuitable material having the required degree of flexibility, stillness,elasticity and resistance to fatigue such as for example graphenesheeting or carbon fiber sheeting for the aerial applications or thespring steel sheeting or elastic bronze alloys sheeting or carbon fibersheeting for the marine propellers. Said sheeting would preferably beinstalled both on top and bottom of the base (29) and will be supportedby a plurality of actuating elements (31) mounted on the base in apredetermined pattern and at a predetermined distance from each other.Said actuating elements could for example be memory alloy conicalspirals able to change their shape between a cone when fully extendedand a flat spiral when fully contracted with the control systemindividual positional control for each such element or a predeterminedgrouping of them such as a row attached to the same flat structural bar(33) extending along the span of the blade. While generally within onerow of actuators they are to move by the same distance, but optionallysuch actuators in one row or grouping can be made to move differentiallyalong the blade span thereby also providing a variability of blade'sprofile spanwise. Another way of implementing such actuating rows is bymeans of using an inflatable, pneumatically for aerial rotors or eitherpneumatically or hydraulically for marine propellers, and expandablelength of hose mounted on base (29) and attached to flat structural bar(33). Alternatively such actuating elements for the aerial applicationscould be the piezo-electric actuators with amplifiers which are muchfaster acting and can be used for dynamically changing the shape of saidsheeting within each rotor revolution. As the cross-sectional profilecurve of said sheeting changes, the length of said curve will alsochange. Said length change can be allowed to take place by means ofusing sheeting divided into partially overlapping strips (32) ofpredetermined width. As the height difference between adjacent stripsvaries the change in said curve's length will be provided for by meansof changing the amounts of overlap between the adjacent strips.Alternatively groove and tongue connections along the spans of theadjacent strips can be used. If a sheeting strip covers more than onerow of actuated support, the sheeting would be attached to one said rowand provided with the known means of facilitating its movement over theother rows of said supports such as those using suitable flexible tracksaffixed to sheeting and either rollers or sliders mounted on theactuated supports. Optionally a cover made of elastomer able to changelength (not shown) can be installed over the sheeting to cover the edgesof sheeting strips. There is a great variety of such actuated supportsand other actuated means which can be used for flexing said sheeting andmutatis mutandim they are all considered to be within the spirit andscope of this invention. The second version of the sixth embodiment isparticularly suitable for the marine propeller blades. It will comprisethe pads of suitable electo-active polymers (not shown) or othersuitable materials able to change their volume and/or shape in apredetermined way and amount when voltage is applied, said pads affixedon either the fixed base or flexible base (29), possibly on bothsurfaces of it and optionally having a protective cover eitherconsisting of one piece sheet or a number of possibly partiallyoverlapping strips, made for example of elastomer, extending over theircombined surface on each surface of the blade that has said padsinstalled. For both versions of the sixth embodiment the movement ofstrips of sheeting or the entire solid sheeting is facilitated bylubrication of supporting them surfaces; seawater lubrication for themarine blades and air lubrication for the aerial blades. The lubricatingwater or air flow respectively can be either forced or diverted ambientflow about the blades.

For the seventh embodiment of the blade of present invention it shall beprovided with controllable “on” or “off” largely unobstructed flowpermeability over much of its surface for the purpose of mitigating theeffects of very strong cross-trajectory flows encountered in someotherwise promising trajectories. These flows produce very significantimpulses of negative lift or negative thrust respectively, but there arecertain other circumstances where said permeability provided upon thecontrol system command will be highly useful. The blade's (FIG. 9) bothsurfaces will have matching in terms of size and location orifices (34)covered by blinds-like sets of turnable strips (35) which can extendalong the blade's span or perpendicularly to it which is preferable asit likely would least interfere with the flows across the blade. Saidblinds covered orifices in the surfaces will have channel walls (36)between them to direct and laterally contain the flow through the bladebetween said orifices. The strips' pivot axis (37) in said blinds canhave gears or gear sectors (38), which will be miniature whereappropriate, preferably on both ends of the strips to prevent twistingthem, with said gears/gear sectors being in mesh with an actuator drivenrack (39) or toothed belt. For lightweight, aerial applications saidstrips can be held at both ends by string-like torsions instead of thepivot axis and can be connected near the edge by a common push/pull linkmovable by a linear actuator. So as to cancel out any aerodynamicforces, produced by a number of strips being turned together, half ofthem are optionally turned by one link in one direction and the otherhalf of them by another link in another direction. Said actuator shallhave a locking capability or a standalone locking mechanism of a knownkind (not shown) needs to be operatively connected with said push orpull link or rack (39). Alternatively said strips can be allowed to beturned into the open position by the flows by releasing the actuatorlock or said standalone locking mechanism in anticipation of said flowsand then returned into the closed position by the actuated link or theby the above mentioned string-like torsions of turn stiffness sufficientfor that.

6. SKETCHES AND DIAGRAMS

Provided separately.

7. OPERATION

In operation the blade of the first embodiment (FIG. 1) will flex itsshape in accordance with the operational mode as selected by the controlsystem. The flexing will occur by means of the actuators (3) located inthe gaps between the segments (1) changing the relative distance betweentheir attachment points on the adjacent segments (1), according to thecommands by the control system, thereby changing the segments relativeangular positioning and thus changing the shape of the blade. By meansof the coordinated by the control system actuator action the blade willperform flexing motion such as for instance the fishtail movement mostlyby its end segments or the undulating thruster-like movement orcontinuously assume different curved profiles for the optimumlift/thrust generation most suitable for the current moment's operatingenvironment. A different version of this embodiment shown in (FIG. 2)will operate as follows; control system will activate in a coordinatedmanner the electro-active polymer segments (7) which will expand andcontract, pushing and pulling on the partition plates (6) thus causingthe elastic plate (5) to flex and thereby causing the whole blade toflex as directed by the control system. The blade may optionally use thepressure/flow sensors located on it to keep the control system fullyaware of the current flows about the blade. It will transmit that datato the receiver(s) located elsewhere on the propeller/rotor structure,optionally together with the signals such as infra-red light for thepurpose of determining the blade parts' exact positioning as a feedbackto the control system.

In operation of the blade of the second embodiment, (FIG. 3) uponcommand by the control system the actuators will be changing thedistance between their attachment points at the pivoted short track (10)and the blade carriage thereby moving the carriage and thus the blademounted on it, relative to the said pivot point (12) which will producea change in the relative sizes of the leading edge and trailing edgevortexes. If more than one carriage is used for the staggered movementthen the actuators will implement a corresponding movement between thenested carriages. As described for the first embodiment optionally theblade pressure/flow data and positional information will be transmittedto the control system.

For the third embodiment (FIG. 4) the actuators (13) will move oncommand by the control system thereby moving the pins (14) mounted onthe movable support (15) thereby moving the trailing extension (17)inward or outward relative to the rear edge of the blade. The actuators(13) can move differentially thereby providing different positioning tothe pins (14) and thus will have the right and the left corners of thetrailing extension positioned at different distances from the rear edgeof the blade. The movement of the trailing extension can be used toshed, when needed, the trailing edge vortex generated along its rearedge or to control the trailing edge vortex's size. Optionally thetrailing extension's positional information and a data from anypressure/flow sensor(s) on it can be transmitted to the control systemas described above.

For the fourth embodiment (FIG. 6) of the blade of the presentinvention, the turnable flap, when the control system disengages theclutch (22) will be released to move freely and will be pushed by theflow to either side of the blade shedding the trailing edge vortex orletting the undesirable powerful flows which appear at certaintrajectory inflection points to pass into the downwash without creatingnegative lift and other adverse consequences. Afterward upon the commandof the control system the actuator (21) and the clutch (22) will bere-engaged aligning the flap with the rest of the blade or positioningit at some other control system directed angle. The powered flap turningwill be possible to use to produce the flap movement for the fishtailpropulsion or to control the genesis of the trailing edge vortex.

The fifth embodiment (FIG. 5) of the blade of this invention featuresthe flexible trailing edges (27) for which the stiffness of thesupporting ribs (28) is dynamically adjustable in real time—that is tobe used to control and optimize the instantaneous geometry of thecurvature formed by the flexible edges in order to optimize thevorticity effects produced thus maximizing the blade's performance whileoperating at various regime parameters such as rpm, the oncoming flow'sspeed and direction, the geometry of the part of the blade trajectorybeing traversed and the current angle of attack (if applicable) inconjunction with the blade's instantaneous current overallcross-sectional shape. Said dynamic stiffness variation can beimplemented differentially along the span of the blade thereby preciselycontrolling the vortex being generated, its shape and movement along thespan and the lift or propulsive force produced. As more than oneflexible edge can be present on the blade of this embodiment, the vortexshedding timing by the control system at the upstream flexible edge willtake into account its effect on the downstream flexible edge'soperation.

The operation of the blade of sixth embodiment is adequately describedin the Description Section and will not be re-iterated here but isincluded by way of reference, as if fully set forth.

The blade of the seventh embodiment is to operate as follows; uponcommand by the control system the locking mechanism (not shown) blockingthe movement of either the rack (39) or common link connected to theturnable strips (35) or the linear actuator (not shown) connected tosaid link is released and the strips (35) are subsequently turned by theflows in the predetermined direction on the side of the blade where thehigh dynamic pressure is expected. Subsequently the same will be takingplace on the opposite surface of the blade at the matching orificethere, when the dynamic pressure reaches through the blade channel theturnable strips there. As the result the flow passes across the bladethrough the channel between the matched orifices which have been opened.Upon the next command of the control system which may be triggered bythe change of the dynamic pressure or the blade passing into anotherpart of its orbit, the actuator moves said rack (39) or common linkreturning said strips into their original position and the either theactuator or the locking mechanism prevents any movement by the stripsuntil next control system command. For the version of the seventhembodiment with the turnable strips (35) held by the torsions, thecontrol systems role can be reduced to just controlling the lockingmechanisms so as to prevent the opening of the orifices when it is notdesirable or at the location on the surface of the blade where it is notcurrently desirable, whereas the strips will be turned by the flow'sdynamic pressure thus opening the orifices. Afterwards the strips willbe returned by the torsions to their original positions closing theorifices when the dynamic pressure subsides to the predetermined level.Another possibility is to have said strips turned either way by theactuator on command by the control system without any reliance on theflows acting on the strips; that would allow the anticipatory openingand closing of said orifices preparing for the onset of flow and/or ofdynamic pressure changes before said onset.

What claimed is:
 1. A cycloidal rotor blade having balancing features to balance the blade relative to a pivot axis of said blade's and also having at least one device for dynamically changing said blade's fluid dynamic properties along said blade's orbit within each rotor revolution.
 2. The blade of claim 1 wherein said at least one device for dynamically changing said blade's fluid dynamic properties are ultra-fast actuators operatively connected to a blade carriage for dynamically varying said blade's pivot point location along its chord.
 3. The blade of claim 1 wherein said device for dynamically changing said blade's fluid dynamic properties is an actuated flap, making said blade's chord overall length and its pivot point relative location along the chord dynamically variable.
 4. The blade of claim 3 wherein said actuated flap is further provided with separate actuators to enable extending said actuated flap ends differentially at the left and right ends of the blade.
 5. The blade of claim 1 wherein said device for dynamically changing said blade's fluid dynamic properties is a turnable flap mounted on said blade's rear edge provided with the devices for powered or passive turning of said flap.
 6. The blade of claim 1 wherein said device for dynamically changing said blade's fluid dynamic properties is at least one flexible edge, whereas said edge has structural components whose stiffness is dynamically variable by the control system in real time for precisely controlling respectively either the aero-elastic or hydro-elastic effects taking place at said edge.
 7. The blade of claim 1 wherein said device for dynamically changing said blade's fluid dynamic properties is a flexible cover on at least one of its surfaces and actuators underneath said flexible cover for varying said flexible cover's shape.
 8. The blade of claim 1 wherein said devices for dynamically changing said blade's fluid dynamic properties are orifices covering substantial portion of its surface area, wherein said orifices feature covers comprising turnable strips with means for turning said strips in real time thereby providing cross-blade flow control.
 9. A method for altering fluid dynamic properties of a cycloidal rotor blade within one blade revolution, the method comprising: providing a cycloidal rotor blade having: a device for balancing the blade dynamically about said blade's pivot axis, at least one device for changing said blade's fluid dynamic properties and at least one independently operable ultra-fast actuator operatively connected with said device for changing said blade's fluid dynamic properties in accordance with commands received from a control system; and actuating one or more of the actuators within a revolution of the blade.
 10. The method of claim 9 wherein said at least one device for dynamically changing said blade's fluid dynamic properties are actuators operatively connected to a blade carriage for dynamically varying said blade's pivot point location along its chord.
 11. The method of claim 9 wherein said device for dynamically changing said blade's fluid dynamic properties is an actuated flap capable of extension and retraction.
 12. The method of claim 9 wherein said device for dynamically changing said blade's fluid dynamic properties is a turnable flap mounted on said blade's rear edge provided with the devices for powered or passive turning of said flap. 